Unloading device for a substrate magazine, substrate magazine system

Description

[0001] The invention relates to an unloading device for a substrate magazine, wherein the substrate magazine has a plurality of drawers in which substrates can be arranged for storage or intermediate storage, with at least one controllable conveyor belt on which the substrates can be placed, with at least one controllable gripper arm which is designed to push at least one substrate out of a drawer of the substrate magazine onto the conveyor belt, wherein the conveyor belt and the gripper arm are arranged on a common and movably mounted carrier, wherein the gripper arm is arranged below the conveyor belt at least in an initial position in order to grip at least one substrate from below.

[0002] Furthermore, the invention relates to a substrate magazine system for a placement line of flat substrates, with at least one substrate magazine having a plurality of drawers in which substrates can be arranged for storage or intermediate storage.

[0003] Unloading devices of the type mentioned above are known from the prior art. For example, a generic unloading device is described in the published patent application DE 10 2019 217 033 A1. This device has a gripper arm mounted on a carrier, which can be retracted into the substrate magazine to pull a substrate out of a drawer of the magazine. For this purpose, the gripper arm has a pivotable gripper finger at its free end, which is the end that is pushed into the magazine first. This gripper finger is aligned horizontally when inserted so that it can be pushed between substrates or drawers arranged one above the other. When retracted, it is pivoted about a vertical position or orientation so that a substrate can be pulled out of the drawer or pushed out by the gripper arm, so that it is pushed onto the conveyor belt by the gripper arm.

[0004] If the substrate magazine is designed such that a substrate stack with several substrates lying directly on top of one another can be arranged in a drawer, the gripper arm cannot be inserted between two substrates lying on top of one another, and the stack can only be pulled out of the substrate magazine as a whole by the gripper arm. The above-mentioned publication therefore proposes providing an additional movable vacuum gripper as a separating device, which is designed to grip a substrate in the substrate magazine from above and thereby lift it from the substrate stack or separate it and place it on the conveyor belt alone or detached from the rest of the substrate stack.

[0005] The invention is based on the object of creating an improved unloading device for a substrate magazine, which in particular has a smaller installation space requirement and a less complex actuator system that can be used for separation.

[0006] The object underlying the invention is achieved by an unloading device having the features of claim 1. This has the advantage that a substrate stack is separated without a vacuum gripper, wherein the separation takes place in the unloading device and not in the substrate magazine itself, whereby no space needs to be reserved in the substrate magazine itself, which would otherwise be necessary for a vacuum gripper to separate a substrate magazine.

[0007] According to the invention, the gripper arm is designed to push a substrate stack with several substrates lying on top of one another out of one of the drawers above the conveyor belt, a separating device is arranged above the conveyor belt, into which separating device the substrate stack can be pushed by the gripper arm, and the separating device is designed to detach the bottommost substrate of the substrate stack from the substrate stack and place it on the conveyor belt below. The fact that according to the invention a substrate stack is separated downwards, i.e. individual substrates are removed from the substrate stack downwards, offers a particularly compact solution because a separated substrate can be placed directly or almost directly on the conveyor belt. As a result, both the actuator system of the unloading device and the advantageous installation space are significantly smaller compared to previously known solutions.

[0008] The separating device preferably has two guide walls arranged at a distance from one another, between which the substrate stack can be received in a vertically guided manner. The guide walls ensure that the substrate stack is securely held between the guide walls and, in particular, remains in one shape. The guide walls prevent the substrates lying one above the other from being pushed apart. Preferably, at least one of the guide walls is arranged so as to be horizontally displaceable in order to adapt the distance between the guide walls to a substrate stack to be received or already received between the guide walls. In this case, a controllable actuator is preferably assigned to the at least one guide wall, by means of which the guide wall can be moved automatically.In particular, it is provided that after the introduction of a substrate stack into the separating device, the at least one guide wall is moved towards the other guide wall in order to align the intermediate substrate stack and, if necessary, to push together displaced substrates of the substrate stack.

[0009] Furthermore, it is preferably provided that two guide rails arranged spaced apart and parallel to one another are assigned to the lower end of the guide walls, onto which guide rails a substrate stack can be pushed between the guide walls in such a way that the lowermost substrate rests on one of the guide rails at two opposite side edges. For this purpose, the rails preferably project from the respective guide wall in the direction of the opposite guide wall, such that a substrate or substrate stack can be placed on the guide rails at the edges between the guide walls. Since the substrates or substrate stacks are thus only held at the edges, the area between the guide rails can be used for further actuators of the unloading device, in particular for the gripper arm.

[0010] Furthermore, it is preferably provided that a first of the guide walls ends at a distance from its associated first guide rail that corresponds at least to the height of the lowest substrate, so that the lowest substrate can be inserted laterally into a receptacle formed by the distance between the first guide wall and the first guide rail. In particular, the distance is smaller than the total height of two of the superimposed substrates, so that the guide wall prevents two substrates from being pushed into the receptacle simultaneously. Preferably, the distance is adjustable so that the loading and unloading device can be adapted to different substrates or substrate stacks.For this purpose, for example, the guide wall is mounted so that it can be moved vertically or vertically. A controllable actuator, in particular an electric motor, pneumatic, or hydraulic actuator, is then preferably assigned to the guide wall, by means of which the guide wall can be moved vertically. If the bottommost substrate is now moved, it is ensured that only the bottommost substrate is pushed into the holder. This separates the bottommost substrate from the remaining substrate stack.

[0011] The singulating device preferably has an actuator device for moving the bottommost substrate into the receptacle, the depth of the receptacle corresponding at least to the width of the guide rail in front of the second guide wall, i.e. the opposite guide rail in front of the opposite guide wall. This ensures that the substrate can be pushed so far into the receptacle that it is no longer supported by the guide rail on the opposite side. As soon as the substrate has been pushed sufficiently far into the receptacle, it falls down from the second guide rail in the direction of the conveyor belt. This causes the substrate to detach from the substrate stack, at least in part. If the receptacle is sufficiently high, this can result in the substrate also falling spontaneously from the receptacle onto the conveyor belt.

[0012] Furthermore, it is preferably provided that the actuator device is designed to push the lowermost substrate into the receptacle beyond the second guide rail. Preferably, the first actuator device is assigned to the second guide wall and guide rail and is designed as a sliding device. For this purpose, the actuator device preferably has a controllable actuator and an actuator element, which is preferably designed as a sliding plate that is mounted for horizontal displacement in order to displace a substrate in the direction of the receptacle. The sliding plate protrudes in particular through an opening formed between the second guide wall and the second guide rail.

[0013] Furthermore, it is preferably provided that the separating device has a second actuator device designed to displace the lowermost substrate out of the receptacle and beyond the first guide rail. Thus, the substrate, once inserted into the receptacle, can be pushed out of the receptacle again by the second actuator device. Because the substrate has already been released from the second guide rail at this point and has fallen or tipped toward the conveyor belt, pushing it back out of the receptacle ensures that the substrate is now completely released from the separating device and dropped onto the conveyor belt below.The second actuator device also ensures that the distance between the first guide wall and the first guide rail only needs to be slightly larger than the height of the substrate to be picked up, since even if the substrate, which has already tilted towards the conveyor belt on the opposite side, becomes jammed in the holder, the actuator device releases the substrate from the clamp.

[0014] Preferably, the at least one conveyor belt is arranged below the guide rails at a distance, in particular vertically, that is greater than the height of the lowest substrate. This ensures that the lowest substrate, which is pushed back from the holder, can be pushed completely under the first guide rail in order to be released from the second guide rail.

[0015] Furthermore, it is preferably provided that the separating device is designed such that the bottommost substrate falls directly onto the at least one conveyor belt when displaced by the first and / or second actuator device. This allows the device to be dismantled in a particularly compact manner.

[0016] According to a further embodiment of the invention, two conveyor belts are preferably arranged parallel and spaced apart from each other, with each conveyor belt being assigned to one of the guide rails. This provides a conveyor belt for each of the guide rails, onto which the respective substrate can drop from the respective guide rail. This ensures safe removal and secure pickup of the respective substrate.

[0017] Furthermore, it is preferably provided that, according to a further embodiment of the invention, at least one support rail is arranged on the carrier and is designed to be vertically movable in order to lie between the guide rails in a receiving position above the transport plane of the conveyor belt(s) and below the guide rails, so that the lowest substrate or the substrate pushed out of the holder falls onto the support rail, and in a depositing position below the transport plane, so that when the support rail is moved into the depositing position, the substrate is deposited on the transport plane or the respective conveyor belt. By means of the support rail, the distance to the guide rails is thus reduced and thus the fall height of the separated substrate. This ensures, for example, that sensitive substrates cannot break or be damaged when falling onto the conveyor belt.Rather, the support rail catches the substrate close to the support rail and only then places it on the lower transport level of the conveyor belt.

[0018] Preferably, the carrier is designed to be vertically adjustable. This allows the support rail and gripper arm to be moved vertically or vertically as needed to enable safe transport and efficient separation of a substrate stack. In particular, this ensures that a substrate stack can be fully inserted into the separation device using the gripper arm, and subsequent separation of the substrates downwards is ensured by sufficient clearance below the substrate stack when the carrier is lowered.

[0019] According to a preferred development of the invention, the at least one support rail is assigned to the second guide rail, i.e., is located close to the second guide rail in the unloading device or in the singling device. As a result, the first end or side of the singulated or bottommost substrate that falls downwards from the second guide rail is caught by the support rail, and the fall height is advantageously reduced. When the substrate is subsequently pushed out of the holder on the opposite side and over the first guide rail, the substrate is already supported by the support rail on the opposite side, thereby reducing the load exerted on the falling substrate when it hits the conveyor belt below the first guide rail, preventing damage to the substrate.Optionally, an additional support rail can also be assigned to the first guide rail in order to reduce the fall height on the side of the first guide rail as well.

[0020] The substrate magazine system according to the invention with the features of claim 14 is characterized by the unloading device according to the invention. This results in the advantages already mentioned above. Preferably, the substrate magazine system has several substrate magazines that can be unloaded by the unloading device. For this purpose, the carrier of the unloading device is, in particular, also horizontally displaceable in order to be able to reach the multiple substrate magazines. Further advantages and preferred features and combinations of features emerge in particular from the above description and from the claims.

[0021] The invention will be explained in more detail below with reference to the drawings. Figure 1a substrate magazine system in a perspective view, Figure 2 the substrate magazine system in a top view, Figure 3 an unloading device of the substrate magazine system in a perspective detailed view, Figure 4 a first part of the unloading device in a perspective detailed view, Figure 5 a second part of the unloading device in a perspective detailed view, Figure 6 the first part of the unloading device in a further perspective detail, and Figure 7 a side view of the unloading device.

[0022] Figure 1shows a substrate magazine system 1 in a simplified perspective view. The substrate magazine 1 is designed to be inserted into a placement line in order to feed substrates, in particular circuit boards, solar cells or wafers, to the placement line, which are then, for example, printed and / or populated on the placement line. The substrate magazine system 1 has a housing 2 in which several, in this case three, substrate magazines 3, 4, 5, as well as an unloading device 6, which is optionally also designed or usable for loading the substrate magazines, are arranged. The substrate magazines 3, 4, 5 are arranged next to one another and each have a plurality of drawers 7, which are arranged and aligned parallel one above the other. Each drawer can accommodate a single, planar or flat substrate and / or a substrate stack.A substrate stack is characterized by a large number of substrates lying directly on top of one another. Depending on the size of the drawers 7 and the substrates, only a single substrate or a substrate stack can be accommodated. Of course, a single substrate can also be arranged in the drawers that accommodate a substrate stack.

[0023] The substrate magazine system 1 is used to store or temporarily store the substrates before they are automatically fed to the assembly line. The substrate magazines 3, 4, 5 can be manually or automatically fed, for example, by the Figure 1 The rear panel is shown for illustration purposes. Figure 1 not shown, so that the substrate magazines 3, 4, and 5 are visible. Optionally, a door is provided in the rear wall, or the rear wall is designed as a door to allow easy loading of the substrate magazines from the rear.

[0024] Figure 2 shows the substrate magazine system 1 in a simplified plan view, with the housing 2 not shown. The unloading device 6 arranged in the housing 2 has a carrier 8, which is mounted horizontally displaceably on a rail system 9 in order to be able to be pushed into a position opposite each of the substrate magazines 3, 4, 5.

[0025] In Figure 31 shows an enlarged perspective detail view of the unloading device 6. The unloading device 6 has the aforementioned carrier 8, which is mounted for longitudinal displacement on the rail system 9. Arranged on the carrier 8 is a gripper arm 10, which has a pivotable gripper finger 11 at one end. The gripper finger 11 is mounted for pivoting about a horizontal axis, as indicated by a double arrow 12. The gripper arm 10 is mounted for longitudinal displacement transversely to the sliding direction of the carrier 8, as indicated by a further double arrow 13, in order to be able to be inserted into one of the substrate magazines 3, 4, 5, in front of which the carrier 8 is located at the time. In addition, the carrier 8 or the gripper arm 10 is vertically movable, as indicated by a double arrow 14.Preferably, the carrier 8 is additionally movable in height overall in order to be able to move the removal device 6 to a height at which a substrate or substrate stack is stored in the substrate magazine 3, 4, 5 in order to be able to push this / these out by means of the gripping arm 10.

[0026] To push out a substrate or substrate stack, the gripper arm 10 is first pushed with the gripper finger 11 pivoted into the horizontal orientation under the substrate or substrate stack to be removed. As soon as the gripper arm 10 is pushed completely under the substrate or the bottommost substrate of the substrate stack, the gripper finger 11 is moved into the Figure 1shown vertical alignment and the gripper arm 10 is pulled back out of the substrate magazine 3, 4, 5. In the process, the substrate or the substrate stack is pulled or pushed out of the substrate magazine 3, 4, 5 by the gripper finger 11.

[0027] The unloading device 6 further comprises a separating device 15 which serves to separate a substrate stack pushed out of the substrate magazine 3, 4 or 5 by the gripper arm 10, so that individual substrates of the substrate stack are fed to the assembly line.

[0028] For this purpose, the separating device 15 has two guide walls 16 and 17, which are arranged at a distance from one another and aligned parallel to one another in order to accommodate a substrate stack between them. At least one of the guide walls 16 and / or 17 is mounted so that it can be displaced horizontally in order to adjust the distance to the substrate stack to be accommodated. The guide walls 16, 17 securely hold and align the substrate stack between the guide walls 16, 17.

[0029] The separating device 15 further comprises a first guide rail 18 and a second guide rail 19, which are aligned parallel to one another and arranged at a distance from one another. The first guide rail 18 is arranged below the guide wall 16, and the second guide rail 19 is arranged below the guide wall 17. The guide rails 18, 19 are each assigned to the lower end of the respective guide wall 16, 17, with the guide walls 16, 17 ending at a distance from the guide rails 18, 19. The guide rails 18, 19 each protrude from the guide wall 16, 17 toward the opposite guide wall 17, 16 and thus serve as a support for a substrate or for the bottommost substrate of the substrate stack.This is pushed by the gripper arm 10 from the substrate magazine 3, 4 or 5 onto the guide rails 18, 19 between the guide walls 16, 17, whereby the bottommost substrate of the substrate stack then rests and is guided on the guide rails 18, 19 only at the edges.

[0030] Figure 4 shows a perspective detailed view of the separating device 15 with a view of the first guide wall 16. As in Figure 4 As shown, the guide wall 16 ends at a distance x from the guide rail 18, so that a receptacle 20 is formed between the guide rail 18 and the guide wall 16, which will be discussed in more detail below.

[0031] Figure 5shows the separating device 15 with a view of the second guide wall 17, wherein the second guide wall 17 is not shown at this point in order to show the components of the separating device 15 located behind it. The guide wall 17 also ends at a distance from the guide rail 19 assigned to it, wherein the distance can correspond to the distance x or be selected differently. Preferably, the distance between the guide wall 17 and the guide rail 19 is smaller than the height of the individual substrates of the substrate stack to be picked up or being picked up.

[0032] A first actuator device 21 is arranged behind the guide wall 17. The actuator device 21 has an actuator element 22 in the form of a sliding plate, which rests on the guide rail 19 and extends in its longitudinal direction. The actuator device 21 also has a controllable actuator 23, which is designed, for example, as an electromechanical, hydraulic, or pneumatic actuator, in order to displace the actuator element 22 vertically, as shown by a double arrow 24. The actuator element 22 is displaceable horizontally such that it can be displaced in the direction of the opposite guide wall 16 and back. The actuator element 22 can be displaced so far that it can be displaced beyond the edge or end of the guide rail 19 in the direction of the opposite guide wall 16.

[0033] The actuator element 22 serves to push the lowest substrate of the substrate stack, which rests on the edge of the guide rail 19, in the direction of the opposite guide wall 16 or into the receptacle 20 formed thereunder, until the lowest substrate is pushed out over the edge or the free end of the guide rail 19, so that from there it optionally falls directly downwards onto a conveyor belt 25 located thereunder.

[0034] According to this embodiment, the conveyor belt is designed in several parts and has a first conveyor belt 25_1 and a second conveyor belt 25_2. The first conveyor belt 25_1 is arranged below the first guide rail 18, as shown in Figure 4 shown, and the second conveyor belt 25_2 under the guide rail 19, as in Figure 5shown. The second conveyor belt 25_2 is arranged and / or configured such that the lowermost substrate can fall from the guide rail 19 directly onto the conveyor belt 25_2.

[0035] The slide plate or the actuator element 22 has a height which is smaller than the distance between the guide wall 17 and the guide rail 19, so that the actuator element 22 can be displaced through the slot or the opening between the guide wall 17 and the guide rail 19 onto the section of the guide rail 19 protruding from the guide wall 17.

[0036] Because the bottommost substrate of the substrate stack is pushed by the actuator element 22 towards the opposite guide wall 16, and because the bottommost substrate rests on the guide rail 18, the bottommost substrate is pushed into the receptacle 20 between the guide wall 16 and the guide rail 18 by the actuator device 21. Distance x is therefore to be selected to be greater than the height of the substrate or, in the case of a preferably displaceable guide wall 16, to be set. Distance x is also preferably less than twice the height of the substrate, so that the substrate above is not displaced when the bottommost substrate is displaced but is instead prevented from moving by the guide wall 16. Thus, only the bottommost substrate is displaced and detached or separated from the rest of the substrate stack.

[0037] Figure 6shows a perspective detailed view of the separating device 15 according to the illustration of Figure 4, but without the guide wall 16. Also on this side of the separating device 15, behind the guide wall 16, an actuator device 26 is arranged, which has a displaceable actuator element 27 and a controllable actuator 28, which is designed in particular like the actuator 23. The actuator element 27 corresponds to the actuator element 22 and is preferably designed as a sliding plate that rests on the guide rail 18 and can be moved back and forth or horizontally by the actuator 28. The respective sliding plate is designed, for example, as a sheet metal element. In its initial position, the actuator element 27 is located in particular such that it is set back from the guide wall 16 and thus releases the receptacle 20. If it is pushed forward by the actuator 28, it is pushed forward so far that it is pushed beyond the outer edge of the guide rail 18 in the direction of the opposite guide wall 17.If the bottommost substrate has previously been inserted into the receptacle 20, it is now pushed out of the receptacle 20 again by the guide element 27 and pushed out over the projection formed by the guide rail 18, so that the substrate on this side also falls down from the guide rail 18 toward the conveyor belt 25 or 25_1. Subsequently, the bottommost substrate now lies completely on the conveyor belt 25 and can thus be transported further to be fed to the assembly line. The process is then repeated, and the substrate now lying at the bottom, which now forms the bottommost substrate of the substrate stack, is separated as previously described.

[0038] In Figure 7 This process is shown in simplified form using a substrate stack 29 which was pushed into the separating device 15 by the gripper arm 11.

[0039] According to the present embodiment, the substrate stack 29 comprises five substrates 30_1, 30_2, 30_3, 30_4, and 30_5. The bottommost substrate 30_5 rests on the guide rails 18, 19 along its edge. Otherwise, the underside of the bottommost substrate 30_5 is exposed. The substrates 30_1 to 30_5 are aligned and held laterally by the guide walls 16 and 17. After the substrate stack 29 has been introduced into the separating device 15, the gripper arm 10 is moved back down to its starting position, so that a gap remains between the gripper arm 10 and the substrate stack 29. In particular, the gripper arm 10 is moved downwards so far that it lies below the transport plane of the conveyor belt 25.

[0040] Subsequently, the lowermost substrate 30_5 is pushed into the receptacle 20 by the first actuator device 21, as indicated by an arrow 31. As soon as the substrate 30_5 has been pushed out of the guide rail 19, the substrate 30_5 falls downwards on the left side in the image toward the conveyor belt 25_2.

[0041] In order to reduce the drop height, a support rail 32 is preferably provided, the height of which is adjustable, in particular, by a pneumatic, hydraulic, or electromechanical cylinder 36. In particular, the support rail 32 is moved upwards, as shown by an arrow 33, in particular before the first substrate 30_5 is pushed into the receptacle 20. In this receiving position, the support rail 32 lies at a height between the transport plane of the conveyor belt 25 and the guide rail 19. The substrate 30_5 thus initially falls onto the support rail 32 on the left and is held by it, as shown in Figure 7indicated by a dashed line of the substrate 30_5. Subsequently, the substrate 30_5 is pushed back by the second actuator device in the opposite direction, as indicated by an arrow 34, so that the substrate 30_5 also falls down on a right-hand side of the guide rail 18. In this case, the substrate 30_5 falls directly onto the conveyor belt 25_1. Now, the substrate 30_5 rests tilted again, resting on the one hand on the support rail 32 and on the other hand on the conveyor belt 25_1. Subsequently, the support rail 32 is moved downwards into its starting position, in which it lies below the transport plane. As a result, the support rail 32 places the substrate 30_5 onto the conveyor belt 25_2, and the substrate 30_5 is completely detached from the substrate stack 29 and can be transported further by the conveyor belt 25 for further use.

[0042] Preferably, for example, a sensor is assigned to the guide rail 19, which detects contactlessly, in particular optically, whether a substrate stack 29 is located at the desired location in the separating device 15. For example, the sensor 35 is arranged on the support rail 23 or the gripper arm 10, as shown in Figure 3 shown as an example.

[0043] The advantageous unloading device 6 enables efficient separation of substrate stacks in a small installation space. At the same time, the unloading device can also be used to remove individual substrates from the respective magazines 3, 4, and 5. This makes the unloading device versatile.

Claims

1. Discharging device for a substrate magazine, wherein the substrate magazine (3,4,5) comprises multiple drawers (7) in which substrates are arrangeable for storage or temporary storage, with at least one controllable conveyor belt (25) on which substrates can be placed, and with at least one controllable gripper arm (10), which is designed to push at least one substrate out of a drawer of the substrate magazine (3,4,5) to the conveyor belt (25), wherein the conveyor belt (25) and the gripper arm (10) are arranged on a common and movably mounted carrier (8), wherein the gripper arm (10) is arranged, at least in a starting position, below the conveyor belt (25) in order to grip at least one substrate from below for pushing out, characterized in that the gripper arm (10) is designed to push a substrate stack (29) with multiple substrates (30_1-30_5) lying one on top of another out of one of the drawers (7) above the conveyor belt (25), in that a separating device (15) is arranged above the conveyor belt (25), into which the substrate stack (29) is insertable by the gripper arm (10), and in that the separating device (15) is designed to release the lowest substrate (30_5) of the substrate stack (29) from the substrate stack (29) and deposit it on the underlying conveyor belt (25).

2. Discharging device claim 1, characterized in that the separating device (15) comprises two guide walls (16, 17) arranged spaced apart from one another, between which the substrate stack (29) is receivable in a vertically guided manner.

3. Discharging device according to any one of the preceding claims, characterized in that the lower end of the guide walls (16, 17) is assigned two guide rails (18, 19) arranged spaced apart and parallel to one another, on which a substrate stack (29) can be pushed between the guide walls (16, 17) so that the lowest substrate (30_5) of the substrate stack (29) rests on two side edges facing away from one another on one of the guide rails (18, 19) in each case.

4. Discharging device according to any one of the preceding claims, characterized in that a first of the guide walls (16, 17) ends at a distance (x) from the first guide rail (18, 19) assigned thereto, which corresponds at least to the height of the lowest substrate, so that the lowest substrate is insertable into a receptacle (20) formed by the distance (x) between the first guide wall (16) and the first guide rail (18).

5. Discharging device according to any one of the preceding claims, characterized in that the depth of the receptacle (20) corresponds at least to the width of the second guide rail (19) in front of the second guide wall (17).

6. Discharging device according to any one of the preceding claims, characterized in that the separating device (15) comprises a first actuator device (21) which is designed to insert the lowest substrate (30_5) into the receptacle (20) and over the (second) guide rail (19).

7. Discharging device according to any one of the preceding claims, characterized in that the separating device (15) comprises a second actuator device (26) which is designed to push the lowest substrate (30_5) out of the receptacle (20) and over the first guide rail (18).

8. Discharging device according to any one of the preceding claims, characterized in that the at least one conveyor belt (25) is arranged under the guide rails (18, 19) at a distance which is greater than the height of the lowest substrate (30_5).

9. Discharging device according to any one of the preceding claims, characterized in that the separating device (15) is designed such that the lowest substrate (30_5) falls directly onto the at least one conveyor belt (25) due to the displacement by means of the first and / or second actuator device (21,26).

10. Discharging device according to any one of the preceding claims, characterized in that two conveyor belts (25_1, 25_2) are arranged in parallel and spaced apart from one another, wherein one of the conveyor belts is assigned to each one of the guide rails (18, 19).

11. Discharging device according to any one of the preceding claims, characterized in that at least one support rail (32) is arranged on the carrier (8) and is movable in height in order to lie between the guide rails (18, 19) in a receiving position above the transport level of the respective conveyor belt (25_1, 25_2) and below the guide rails (18, 19), so that the lowest substrate falls onto the support rail (32), and in a depositing position below the transport level.

12. Discharging device according to any one of the preceding claims, characterized in that the carrier (8) is designed to be movable in height.

13. Discharging device according to any one of the preceding claims, characterized in that the at least one support rail (32) is assigned to the second guide rail (19).

14. Substrate magazine system (1) for a processing line, in particular assembly line, of planar substrates, with at least one substrate magazine (3, 4, 5) which comprises multiple drawers (7) in which multiple substrates and / or substrate stacks (29) are arrangeable for storage or intermediate storage, characterized by a discharging device (6) according to any one of claims 1 to 13.